Robust uninhabited air vehicle active missions

ABSTRACT

A command sequence for an autonomous UAV mission is optimized by simulating the performance of a mission in a model environment. Using a genetic algorithm, neural net, or other suitable technique this command sequence is then optimized, to improve the outcome of the mission. A factor in selecting an optimal command sequence will be its compressability. A set of one or more optimal command sequences is compiled. Each optimal command sequence is encoded into an algorithmic active packet of minimum size for uploaded to the UAV, which then executes the mission. To track the UAV in its performance of the mission without compromising its location, the active packets are executed in the simulated environment. The simulated environment is continually updated with the most current available information. The simulation results are an approximation of the current state of the UAV.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.09/994,447, filed on Nov. 27, 2001.

BACKGROUND OF THE INVENTION

1. Field of Invention

The invention relates generally to the field of Uninhabited Air Vehicles(UAVs), and more particularly, it relates to a method of training andmonitoring a UAV for a specific mission.

2. Description of Related Art

Autonomous unmanned air vehicles (UAV) have great potential for militaryand civilian use. Clearly, intelligent unmanned vehicles can readily besent into hostile situations without fear of casualties. In addition,because the aircraft is intelligent, communication with the vehicle isunnecessary thus increasing its undetected surveillance capability.

Current UAVs have not met the degree of safety and reliability requiredfor autonomous operation over populated areas or in airspace shared withcommercial aircraft. Autonomy technologies that can provide reflexiveresponses and rapid adaptation (as exhibited by a pilot) to compensatefor a vehicle's structural, perceptual and control limitations arelacking. This is particularly evident when UAV mishap rates are comparedto those of piloted systems.

Compared to piloted aircraft systems, current UAVs are designed to bevery low cost, use smaller low-power commercial off-the-shelf componentsand have very limited redundancy. Unfortunately, the lower requirementfor reliability has led to higher failure rates. The higher failure rateis seen as somewhat acceptable because it does not mean the loss ofhuman life, except when the vehicle flies over populated areas. It isdesirable, however, for a UAV to be able to safely fly over populatedareas, to safely share airspace with other piloted vehicles, and togenerally improve the mission success rate. For these reasons, the UAVcontrol systems must be capable of rigorously analyzing and predictingcomponent failures and their effects to determine the appropriateresponse to faults much as a pilot does prior to or as a result ofsystem failure.

BRIEF SUMMARY OF THE INVENTION

The present invention includes providing a simulation of the environmentthe UAV is to operate in, and simulating the performance of a mission bythe UAV. This simulation takes into account environmental stimuli andmission objectives, and outputs some mission outcome. The commandsequence is then optimized using a genetic algorithm, neural net, orother suitable technique, to improve the outcome of the mission. A setof one or more optimal command sequences to achieve the mission iscompiled, and each optimal command sequence is encoded into analgorithmic active packet of minimum size. An active packet is theobject communicated in an active network. Active networks are a recentdevelopment in computer science and networking technology. Theapplication of active networking to the present invention will beelaborated, infra. These active packets are uploaded to the UAV, whichthen executes the mission.

To track the UAV in its performance of the mission without compromisingits location, the active packets are executed in the simulatedenvironment. The simulated environment is continually updated with themost current available information. The simulation results are anapproximation of the current state of the UAV.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects and advantages of the presentinvention will be apparent from the following drawings, description andappended claims, where:

FIGS. 1A and 1B, bridged by connector A, represent a flow chart of anexemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

It is desirable for a UAV operating over hostile territory to beundetectable. Towards that end, limiting or eliminating radiotransmissions to and from the UAV decreases the likelihood of detection.Therefore, a UAV capable of operating autonomously without the need toreport its status to a remote control system and receive commands fromit is less detectable. Further, an autonomous UAV is not vulnerable tohaving its commands overridden by an outside source.

In order to achieve this goal of autonomy, a UAV must incorporate alldecision making into the vehicle while executing a mission. One questionthat arises is how to best communicate the mission to the UAV. Themission may be represented by static waypoints and commands. However, itcan be more efficient to represent the mission in a programmatic oralgorithmic manner.

The application “Optimistic Distributed Simulation for a UAV FlightControl System”, Ser. No. 09/994,448, now U.S. Pat. No. 6,498,968,hereby incorporated by reference, is directed toward active networkcontrol of a UAV. Active network control includes state objects thatcomprise executable code to process the control model. The activemissions of the present invention define the executable code for a givenUAV mission.

Referring now to FIG. 1A, in an exemplary embodiment, the method of thepresent invention, generally 100, begins 102 by preparing a simulation104 of the environment the UAV is to operate in. The simulatedenvironment could include topographical terrain information, knownweather conditions and their predicted movements, and/or known enemylocations.

Additionally in preparation, the mission objectives must be defined 106.In one illustration, a reconnaissance mission has the objectives to passthrough a given waypoint, take a photograph, and return to base.

A simplistic model of this mission would be a set of intermediatewaypoints associated with commands to be executed at those waypoints.The waypoints trace the course of the mission, and the commands specifythe actions the UAV will take to achieve the mission at each waypoint.For example, the instruction at an intermediate waypoint may be a null,i.e., an instruction to take no action. The instruction at the targetwaypoint could be to take a picture.

A randomized, though feasible, command sequence is initially generated108. A feasible command sequence is one that can achieve the missiongoals, and is within the capabilities of the UAV. For example, a nextwaypoint that cannot be reached by the UAV, either because of a turnradius that is impossible to achieve or because it is beyond theoperating range of the UAV, is unfeasible. The initial command sequenceis simulated 110, and the outcome is evaluated 112, for example againsta fitness function.

When using a genetic algorithm as part of the optimization according tothe present method, a fitness function is defined, in a manner known inthe art. In this case, the fitness function measures the outcome of theUAV simulation of the command sequence. The fitness function consists ofmeasurable objectives towards achieving the mission goal. An examplefitness function for this sample mission might include the followingelements:

TABLE Fitness Function Elements Measurable damage to the UAV, withemphasis on the flight capability and whether the camera remains in anoperational state (minimize damage) The minimum distance ultimatelyreached by the UAV from the target to be photographed (minimize targeterror) The minimum distance of the UAV from base after the target hasbeen photographed and begins the return flight (minimize return error)Estimated complexity of the command sequences generated based uponMinimum Data Length (MDL) theory (minimize complexity)

The evaluation of the outcome is compared against some threshold value114, to determine if more modification 116 is necessary. Care must betaken to avoid converging on a local, rather than global, minimum ormaximum value of the fitness function. Through iterative simulation, anoptimal command sequence to achieve the mission is developed.

Continuing with example of the genetic algorithm procedure, parentselection, mating and mutation are then performed to optimize theoutcome according to the fitness function. Again, this genetic algorithmtechnique is known in the art, and need not be discussed further. SeeSchatten, A., Genetic Algorithm Short Tutorial,http://www.ifs.tuwien.ac.at/˜aschatt/info/ga/genetic.html, which ishereby incorporated by reference.

The genetic algorithm will evolve a command sequence optimized to thefitness function. For example, an elevation at a given waypoint may beincreased to move above the range of enemy fire. Alternately, theelevation may be reduced to mask the UAV behind terrain features. It ispossible that more than one command sequence will result in an optimalmission outcome.

Though the genetic algorithm is illustrated for educing an optimalcommand sequence, it is not the exclusive means of accomplishing thistask. Neural networks techniques, for example, are also well suited tothe method of the present invention.

At least one element of the preset invention is including thecompressability of the command sequence as a criterion on the same levelas an objective of the mission. Its influence will be arbitrary with therelative weighting of the objectives, but this will allow the process toconverge, not only on an optimal result, but also on a result that canbe optimally communicated to the UAV.

Referring now to FIG. 1B, in the next step of the present method, a setcomprising one or more optimal command sequences will be compressed 118for efficient upload 120 to the UAV. Consider a command sequence as abound string, x. The Kolmogorov Complexity Estimation, K(x), is thetheoretical optimal compression of bound string x. Bound sting x willcontain some non-random data that can be expressed algorithmically ascode, and some random data that must be expressed as data. The optimalbalance of code and data is the subject of the Minimum Data Length (MDL)theorem. See Wallace, C. S., and Dowe, D. L., Minimum Message Length andKolmogorov Complexity, The Computer Journal, Vol. 42, No. 4, 1999.

MDL states that the sum of the length of the hypothesis (L_(H)) aboutthe model generating bound string x and the length of the string (L_(D))encoded by this hypothesis will estimate the Kolmogorov Complexity ofthe string, according to the equation:

K(x)≈L _(H) +L _(D)

Using MDL, efficiency of the command sequence's representation as anactive packet can be measured. The hypothesis predicts the value of x,and the data corrects for inaccuracy in the hypothesis due to randomnessof the sequence. At a most basic level, the command sequence may becompressed according to any well-known data compression algorithm.However, specific knowledge of the data to be compressed allows a moreefficient hypothesis to be developed.

As an illustration, the waypoints defining the course of the samplemission, supra, may be represented by a curve fit. The defining curve isa much more efficient representation of the course than individualwaypoints. This information can be represented as code. However, thepoint at which a picture is to be taken is likely random. It would notbe possible to represent this information algorithmically. Therefore,the command to photograph would form the data portion of the activepacket, while the course would form the algorithmic portion.

Once the command sequences are compressed 118 into an active packet ofminimum size, they can be efficiently uploaded 120 to the UAV. In aneffort to make the UAV completely autonomous, this would take placebefore the UAV is launched. However, another advantage of the presentinvention is that the active packet may be uploaded by transmission to aUAV already in flight, while minimizing the risk by minimizing thetransmission length compared to raw data mission commands.

Tracking the progress of the UAV on the mission has begun 122 by havingthe UAV transmit status messages could compromise its safety. It is,however, desirable to know when the UAV is or is likely to be during theperformance of the mission. Again, referring to the application“Optimistic Distributed Simulation for a UAV Flight Control System”, weassume that control of the UAV while in the performance of the missionincludes some ability to adapt to variables than cannot be predicted.Once these conditions become known, however, they can be input into thesimulation to determine how the UAV would react in performance of thepreviously defined mission.

In order to track the UAV 124, the active packets are executed in thesimulated environment. If the simulated environment is continuallyupdated with the most current information, then the simulation resultswill be a good approximation of the state and location of the UAV inperforming its mission. The tracking is continuous 126 until the missionis complete 128.

The invention has been described herein with reference to particularexemplary embodiments. Certain alterations and modifications may beapparent to those skilled in the art, without departing from the scopeof the invention. The exemplary embodiments are not meant to be limitingon the scope of the invention, which is defined by the appended claims.

1. A method of tracking an autonomous UAV during a performance of apre-programmed active mission, comprising: receiving data about anoperating environment for an active UAV performing an active mission;pre-programming the received data into the active UAV before the activemission; simulating the performance of the active UAV performing theactive mission using the received data for the active mission in acurrent simulation of the operating environment of the active UAV whilethe active UAV is performing the active mission; estimating a presentposition of the active UAV using results of the simulation while theactive UAV is performing the active mission; and simulating anapproximate present position of the active UAV based on the estimationof the present position for tracking the active UAV during theperformance of the pre-programmed active mission.
 2. The method of claim1, further including after the step of simulating the performance:modifying the current simulation of the operating environment to producea modified simulation of the performance a plurality of times producinga plurality of simulation data; and estimating the present position ofthe active UAV using the plurality of simulation data.
 3. (canceled) 4.The method of claim 2, wherein the step of estimating the presentposition of the active UAV uses the plurality of simulation data toproduce a plurality of estimated present positions of the active UAV,and at least in part based on the plurality of estimated presentpositions specifying an approximate present position of the active UAV.5. The method of claim 1, further comprising, after the step ofestimating the present position: modifying the current simulation of theoperating environment; simulating the performance of the active missionprogrammed into the active UAV with the modified current simulation ofthe operating environment of the active UAV producing the modifiedsimulation; estimating another present position of the active UAV usingthe modified simulation; iteratively performing the steps of modifyingthe current simulation through estimating another present position ofthe active UAV providing a plurality of estimate present positions tooptimize the present position; and specifying the approximate presentposition of the active UAV based on the optimized present position. 6.The method of claim 1, further comprising, after the step of estimatingthe present position: modifying the current simulation of the operatingenvironment; simulating the performance of the active mission programmedinto the active UAV with the modified current simulation of theoperating environment of the active UAV producing a modified simulation;iteratively performing the steps of modifying the current simulationthrough simulating the performance producing the modified simulation tooptimize the modified simulation; estimating another present position ofthe active UAV using an optimized modified simulation; and specifyingthe approximate present position of the active UAV based on the anotherpresent position.
 7. A method of optimizing tracking of an autonomousUAV during a performance of a pre-programmed active mission, comprising:receiving data about an operating environment for an active UAVperforming an active mission; preprogramming the received data into theactive UAV before the active mission; simulating the performance of theactive UAV performing the active mission using the received data for theactive mission in a current simulation using parameters of an operatingenvironment of the active UAV while the active UAV is performing theactive mission; estimating a present position of the active UAV usingresults of the simulation while the active UAV is performing the activemission; modifying the parameters of the operating environment of theactive UAV producing a modified current simulation; simulating theperformance of the active mission programmed into the active UAV withthe modified current simulation producing a modified simulation;estimating a modified present position of the active UAV using resultsof the modified simulation while the active UAV is performing the activemission; iteratively performing the steps of modifying the parametersthrough estimating the modified present position to optimize the presentposition of the active UAV; and simulating an approximate presentposition of the active UAV based on the optimized present position fortracking the active UAV during the performance of a pre-programmedactive mission.
 8. The method of claim 7, further comprising afterestimating a present position: receiving data during the performance ofthe pre-programmed active mission; and modifying the current simulationof the operating environment parameters based on the data.
 9. The methodof claim 8, wherein the data is received from the active UAV.
 10. Themethod of claim 7, further comprising after estimating a presentposition: receiving data during the performance of the pre-programmedactive mission; and modifying the parameters of the operatingenvironment.
 11. The method of claim 7, further comprising before thestep of iteratively performing the steps of modifying the parametersthrough estimating the modified present position: iteratively performingthe steps of modifying the parameters through simulating the performanceof the active mission producing the modified simulation to optimize themodified simulation.
 12. The method of claim 1, further comprising:operating the active UAV autonomously by maintaining a lack ofcommunication between the active UAV and the simulation of theperformance of the active UAV.